Drive arrangements for articulatable surgical instruments

ABSTRACT

A shaft assembly for a surgical instrument that includes a movable drive member. In at least one form, the surgical instrument includes a spine assembly that is couplable to the surgical instrument and has a surgical end effector coupled thereto by an articulation joint. The shaft assembly in one form includes a proximal firing member and an intermediate firing member that is coupled to a distal firing member. The distal firing member is configured for selective travel through the surgical end effector. At least one articulation driver is coupled to the surgical end effector to apply articulation motions thereto. A clutch assembly interfaces with the primary and intermediate firing members and the articulation driver such that when in an articulation orientation, movement of the drive member results in movement of the articulation driver and when in a firing orientation, movement of the drive member results in movement of the intermediate and distal firing members. A separate articulation motor may be employed to actuate the articulation driver.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 14/575,139, entitledDRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, filed Dec.18, 2014, now U.S. Patent Application Publication No. 2016/0174978, theentire disclosure of which is hereby incorporated by reference herein.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical stapling and cutting instruments and staplecartridges for use therewith.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of this invention, and the manner ofattaining them, will become more apparent and the invention itself willbe better understood by reference to the following description ofembodiments of the invention taken in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is a perspective view of a powered surgical instrument comprisinga handle, a shaft, and an articulatable end effector;

FIG. 2 is an exploded assembly view of a surgical instrument housing;

FIG. 3 is a cross-sectional view of a portion of an interchangeableshaft assembly;

FIG. 4 is a partial perspective view of a portion of the interchangeableshaft assembly of FIG. 3 with the lock drum and nozzle removed forclarity;

FIG. 5 is a cross-sectional perspective view of the interchangeableshaft assembly of FIG. 4;

FIG. 6 is a cross-sectional perspective view of a portion of theinterchangeable shaft assembly of FIG. 5;

FIG. 7 is another cross-sectional view of the interchangeable shaftassembly and portion of the surgical end effector with the end effectorin an unarticulated orientation;

FIG. 8 is another cross-sectional view of the interchangeable shaftassembly of FIG. 7 with the end effector in an articulated orientation;

FIG. 9 is a partial perspective view of a portion of anotherinterchangeable shaft assembly;

FIG. 10 is another perspective view of a portion of the interchangeableshaft assembly of FIG. 9 with various components omitted for clarity;

FIG. 11 is a partial cross-sectional view of a portion of theinterchangeable shaft assembly of FIG. 10 with some components omittedfor clarity;

FIG. 12 is a partial cross-sectional view of a portion of anotherinterchangeable shaft assembly in an unarticulated configuration;

FIG. 13 is another partial cross-sectional view of the interchangeableshaft assembly of FIG. 12 in an articulated configuration;

FIG. 14 is a perspective view of a portion of another interchangeableshaft assembly;

FIG. 15 is another perspective view of a portion of the interchangeableshaft assembly of FIG. 14 with various components omitted for clarity;

FIG. 16 is another perspective view of a portion of the interchangeableshaft assembly of FIGS. 14 and 15 with various components omitted forclarity;

FIG. 17 is a partial exploded assembly view of a portion of theinterchangeable shaft assembly of FIGS. 14-16;

FIG. 18 is a cross-sectional perspective view of a portion of theinterchangeable shaft assembly of FIGS. 14-17 with various componentsomitted for clarity and wherein the clutch assembly is in anarticulation orientation;

FIG. 19 is another cross-sectional perspective view of a portion of theinterchangeable shaft assembly of FIGS. 14-18 with various componentsomitted for clarity and wherein the clutch assembly is in a firingorientation;

FIG. 20 is another cross-sectional view of a portion of theinterchangeable shaft assembly of FIGS. 14-19 with the end effector inan unarticulated orientation;

FIG. 21 is another cross-sectional view of a portion of theinterchangeable shaft assembly of FIGS. 14-20 with the end effector inan articulated orientation;

FIG. 22 is a cross-sectional view of the interchangeable shaft assemblyof FIGS. 14-21 taken along lines 22-22 in FIG. 21;

FIG. 23 is another cross-sectional view of a portion of theinterchangeable shaft assembly of FIGS. 14-22 with the end effector inan articulated orientation and the clutch assembly in a firingorientation;

FIG. 24 is a cross-sectional view of the interchangeable shaft assemblyof FIGS. 14-23 taken along lines 24-24 in FIG. 23;

FIG. 25 is a perspective view of another surgical instrument with anarticulatable surgical end effector operably coupled thereto;

FIG. 26 is a perspective view of a handle portion of the surgicalinstrument of FIG. 25 with a portion of the nozzle housing omitted forclarity;

FIG. 27 is an exploded perspective view of a portion of the surgicalinstrument of FIGS. 25 and 26;

FIG. 28 is an exploded assembly view of portions of a lock assembly ofthe surgical instrument of FIGS. 25-27;

FIG. 29 is a cross-sectional view of an elongate shaft assembly of asurgical instrument;

FIG. 30 is a cross-sectional view of another elongate shaft assembly ofanother surgical instrument;

FIG. 31 is a diagrammatical view of a portion of another surgicalinstrument; and

FIG. 32 is a diagrammatical view of a portion of another surgicalinstrument.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate certain embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLESURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION,now U.S. Pat. No. 9,700,309;

U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWEREDARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,782,169;

U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCHARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2014/0249557;

U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICALSURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Pat. No.9,358,003;

U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSORMOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,554,794;

U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCHASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,326,767;

U.S. patent application Ser. No. 13/782,481, entitled SENSORSTRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Pat.No. 9,468,438;

U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODSFOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S.Patent Application Publication No. 2014/0246475;

U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWEREDSURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat. No.9,398,911; and

U.S. patent application Ser. No. 13/782,536, entitled SURGICALINSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No.9,687,230;

U.S. patent application Ser. No. 13/803,193, entitled CONTROLARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Pat.No. 9,332,987;

U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLESHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0263564;

U.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. PatentApplication Publication No. 2014/0263541;

U.S. patent application Ser. No. 13/803,210, entitled SENSORARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS,now U.S. Pat. No. 9,808,244;

U.S. patent application Ser. No. 13/803,148, entitled MULTI-FUNCTIONMOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application PublicationNo. 2014/0263554;

U.S. patent application Ser. No. 13/803,066, entitled DRIVE SYSTEMLOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,629,623;

U.S. patent application Ser. No. 13/803,117, entitled ARTICULATIONCONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No.9,351,726;

U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAINCONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No.9,351,727; and

U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEMFOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0277017.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMSFOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENTCONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272582;

U.S. patent application Ser. No. 14/226,099, entitled STERILIZATIONVERIFICATION CIRCUIT, now U.S. Patent Application Publication No.2015/0272581;

U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OFNUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Patent ApplicationPublication No. 2015/0272580;

U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENTTHROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now U.S.Patent Application Publication No. 2015/0272574;

U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWEREDSURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. Pat. No.9,743,929;

U.S. patent application Ser. No. 14/226,093, entitled FEEDBACKALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.Patent Application Publication No. 2015/0272569;

U.S. patent application Ser. No. 14/226,116, entitled SURGICALINSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent ApplicationPublication No. 2015/0272571;

U.S. patent application Ser. No. 14/226,071, entitled SURGICALINSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. Pat. No.9,690,362;

U.S. patent application Ser. No. 14/226,097, entitled SURGICALINSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Patent ApplicationPublication No. 2015/0272570;

U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMSFOR USE WITH SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2015/0272572;

U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICALINSTRUMENT SYSTEM, now U.S. Patent Application Publication No.2015/0272557;

U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS ANDMETHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat. No.9,804,618;

U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENTTHROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S. Pat.No. 9,733,663;

U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLINGINSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and

U.S. patent application Ser. No. 14/226,125, entitled SURGICALINSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Patent ApplicationPublication No. 2015/0280384.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY ANDSENSORS FOR POWERED MEDICAL DEVICE, now U.S. Patent ApplicationPublication No. 2016/0066912;

U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITHINTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. Pat. No.9,724,094;

U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICEDEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat. No. 9,737,301;

U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORSWITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION,now U.S. Pat. No. 9,757,128;

U.S. patent application Ser. No. 14/479,110, entitled USE OF POLARITY OFHALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE, now U.S. PatentApplication Publication No. 2016/0066915;

U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGEWAKE UP OPERATION AND DATA RETENTION, now U.S. Patent ApplicationPublication No. 2016/0066911;

U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTORCONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 9,788,836; and

U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OFTISSUE PARAMETER STABILIZATION, now U.S. Patent Application PublicationNo. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVENSURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. PatentApplication Publication No. 2014/0305987;

U.S. patent application Ser. No. 14/248,581, entitled SURGICALINSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROMTHE SAME ROTATABLE OUTPUT, now U.S. Pat. No. 9,649,110;

U.S. patent application Ser. No. 14/248,595, entitled SURGICALINSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THESURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0305988;

U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEARSURGICAL STAPLER, now U.S. Patent Application Publication No.2014/0309666;

U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSIONARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2014/0305991;

U.S. patent application Ser. No. 14/248,584, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARYDRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Pat. No.9,801,626;

U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICALSTAPLER, now U.S. Patent Application Publication No. 2014/0309665;

U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEMDECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. PatentApplication Publication No. 2014/0305990; and

U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTORDRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, nowU.S. Patent Application Publication No. 2014/0305992.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entireties:

U.S. Provisional Patent Application Ser. No. 61/812,365, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;

U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEARCUTTER WITH POWER;

U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEARCUTTER WITH MOTOR AND PISTOL GRIP;

U.S. Provisional Patent Application Ser. No. 61/812,385, entitledSURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTORCONTROL; and

U.S. Provisional Patent Application Ser. No. 61/812,372, entitledSURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 which are each hereinincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/574,478, entitled SURGICALINSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANSFOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER; now U.S. PatentApplication Publication No. 2016/0174977;

U.S. patent application Ser. No. 14/574,483, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS; now U.S. PatentApplication Publication No. 2016/0174969;

U.S. patent application Ser. No. 14/575,148, entitled LOCKINGARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICALEND EFFECTORS, now U.S. Patent Application Publication No. 2016/0174976;

U.S. patent application Ser. No. 14/575,130, entitled SURGICALINSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETENON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. PatentApplication Publication No. 2016/0174972;

U.S. patent application Ser. No. 14/575,143, entitled SURGICALINSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS; now U.S. PatentApplication Publication No. 2016/0174983;

U.S. patent application Ser. No. 14/575,117, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No.2016/0174975;

U.S. patent application Ser. No. 14/575,154, entitled SURGICALINSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAMSUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No.2016/0174973;

U.S. patent application Ser. No. 14/574,493, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM;

now U.S. Patent Application Publication No. 2016/0174970; and

U.S. patent application Ser. No. 14/574,500, entitled SURGICALINSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM;

now U.S. Patent Application Publication No. 2016/0174971.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or “end effector” portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich first jaw is pivotable relative to the second jaw. The surgicalstapling system further comprises an articulation joint configured topermit the end effector to be rotated, or articulated, relative to theshaft. The end effector is rotatable about an articulation axisextending through the articulation joint. Other embodiments areenvisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

FIG. 1 illustrates an exemplary motor driven (or “powered”) surgicalinstrument 10 which includes a housing 100, an elongate interchangeableshaft assembly 200 and a surgical end effector 300 that is operablyconnected to the interchangeable elongate shaft assembly 200. While thedepicted shaft assembly is detachable from the housing 100, variousunique and novel features may be equally enjoyed with arrangements thatemploy a dedicated (non-interchangeable) shaft assembly. The surgicalend effector 300 as shown is configured to act as an endocutter forclamping, severing and stapling tissue. However, it will be appreciatedthat various embodiments may include end effectors configured to act asother surgical devices including, for example, graspers, cutters,staplers, clip appliers, access devices, drug/gene therapy deliverydevices, ultrasound, RF, and/or laser energy devices, etc. As indicatedabove and will be describe further below, various portions of thesurgical instrument 10 are motor driven. Further details regarding manyaspects of the motor driven components of surgical instrument 10 may befound, for example, in U.S. patent application Ser. No. 13/803,086,entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATIONLOCK, now U.S. Patent Application Publication No. 2014/0263541 which hasbeen incorporated by reference in its entirety herein. However, it willbe understood that the various arrangements and features disclosedherein may be effectively employed in connection withrobotically-controlled surgical systems. For example, variousarrangements disclosed herein may be employed with various roboticsystems, instruments, components and methods disclosed in U.S. patentapplication Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTSWITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No.9,072,535, as well as in U.S. Pat. No. 6,132,368, entitledMULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, U.S. Pat. No. 5,878,193,entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, U.S. Pat.No. 5,792,135, entitled ARTICULATED SURGICAL INSTRUMENT FOR PERFORMINGMINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY, U.S.Pat. No. 6,231,565, entitled ROBOTIC ARM DLUS FOR PERFORMING SURGICALTASKS, U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITHULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, U.S. Pat. No. 6,364,888,entitled ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICALAPPARATUS, U.S. Pat. No. 7,524,320, entitled MECHANICAL ACTUATORINTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, U.S. Pat. No. 7,691,098,entitled PLATFORM LINK WRIST MECHANISM, U.S. Pat. No. 7,806,891,entitled REPOSITIONING AND REORIENTATION OF MASTER/SLAVE RELATIONSHIP INMINIMALLY INVASIVE TELESURGERY, and U.S. Pat. No. 7,824,401, entitledSURGICAL TOOL WITH WRISTED MONOPOLAR ELECTROSURGICAL END EFFECTORS theentire disclosures of each being hereby incorporated by referenceherein.

Thus, as used herein, the term “housing” may also encompass a housing orsimilar portion of a robotic system that houses or otherwise operablysupports at least one drive system that is configured to generate andapply at least one control motion which could be used to actuate theinterchangeable shaft assemblies disclosed herein and their respectiveequivalents. The term “frame” may refer to a portion of a handheldsurgical instrument, e.g., a “handle”. The term “frame” may alsorepresent a portion of a robotically-controlled surgical instrumentand/or a portion of the robotic system that may be used to operablycontrol a surgical instrument.

It should be appreciated that spatial terms such as vertical,horizontal, right, left, etc. are given herein with reference to theFigures assuming that the longitudinal or “shaft axis” of the surgicalinstrument 10 is co-axial to the central axis of the shaft 200. Inactual practice, however, the surgical instrument 10 may be oriented atvarious angles and as such these spatial terms are used relative to thesurgical instrument itself. Further, for a hand-held housing, “proximal”is used to denote a perspective of a clinician who is behind the handlewho places the end effector 300 distal, or away from him or herself. Asused herein, the phrase, “substantially transverse to the longitudinalaxis” where the “longitudinal axis” is the axis of the shaft, refers toa direction that is nearly perpendicular to the longitudinal axis. Itwill be appreciated, however, that directions that deviate some fromperpendicular to the longitudinal axis are also substantially transverseto the longitudinal axis.

As can be seen in FIG. 1, the end effector 300 is pivotally connected tothe shaft assembly 200 at articulation joint 240. A variety ofarticulation joints and control systems are disclosed in various patentsand patent applications that have been incorporated by reference hereinand may be employed in connection with various features disclosed andclaimed herein. Other articulation joints and articulation systems aredisclosed in U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLINGINSTRUMENTS and U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENTHAVING AN ARTICULATING END EFFECTOR, the entire disclosures of eachbeing hereby incorporated by reference herein. Various other means forarticulating the end effector 300 are discussed in greater detail below.

The illustrated end effector 300 includes an elongate channel 302 thatis configured to operably support a surgical staple cartridge 310therein. The staple cartridge 310 includes a cartridge body 312 thatoperably supports a plurality of surgical staples or fasteners (notshown) therein. In one implementation, the staples are operablysupported on drivers that are movably supported within correspondingstaple pockets 314 formed in the cartridge body 312. The cartridge body312 further includes an elongate slot 316 that is centrally disposedbetween lines of staple pockets 314. The elongate slot 316 is configuredto accommodate a tissue cutting member (not shown) that is supported forlongitudinal travel through the cartridge body 312 upon application of afiring motion thereto from a firing system as will be discussed infurther detail below. In certain implementations, the tissue cuttingmember may interface with an actuator member, sometimes referred to as a“wedge sled” or simply “sled” that is configured to apply an upwardmotion to the staple drivers as the wedge sled is driven distally withthe tissue cutting member. As can also be seen in FIG. 1, the endeffector 300 includes an anvil 320 that is movably supported on theelongate channel 302 for selective travel toward and away from theelongate channel 302 and the staple cartridge 310 supported therein. Theelongate channel and the anvil may also be referred to as “jaws” thatare movable between open and closed positions. The anvil 320 has astaple-forming undersurface (not shown) that serves to form the ends ofthe staples as they are driven into forming contact therewith. The anvil320 is movable between an open and closed positions by a closure memberassembly 210 that interfaces with a closure system that is operablysupported by the housing 100 as will be discussed in further detailbelow. In the illustrated embodiment, the anvil 320 is moved toward thestaple cartridge 310 to a closed position when the closure memberassembly 210 is driven in the distal direction “DD” and returned to anopen position when the closure member assembly 210 is moved in aproximal direction “PD”. A variety of different end effectorarrangements and constructions are known and may be employed withvarious unique and novel features disclosed herein. Thus, many of theclaims presented herein may not be limited to the particular endeffector arrangement depicted in FIG. 1, for example. More detailsconcerning the specific construction and operation of alternative endeffectors may be found in various U.S. patent Applications and patentsthat have been incorporated by reference herein.

In the illustrated form, the surgical instrument 10 includes a housing100 that comprises a handle 102. In at least one form, the handle 102comprises a pair of interconnectable housing segments 104, 106 that areinterconnected by screws, snap features, adhesive, etc. In theillustrated arrangement, the handle housing segments 104, 106 cooperateto form a pistol grip portion 108 that can be gripped and manipulated bythe clinician. As will be discussed in further detail below, the handle102 operably supports a plurality of drive systems therein that areconfigured to generate and apply various control motions tocorresponding portions of the interchangeable shaft assembly that isoperably attached thereto.

Referring now to FIG. 2, the handle 102 may further include a frame 110that operably supports a plurality of drive systems. For example, theframe 110 can operably support a first or closure drive system,generally designated as 120, which may be employed to apply closing andopening motions to the interchangeable shaft assembly 200 that isoperably attached or coupled thereto. In at least one form, the closuredrive system 120 may include an actuator in the form of a closuretrigger 122 that is pivotally supported by the frame 110. Morespecifically, as illustrated in FIG. 2, the closure trigger 122 may bepivotally supported by frame 110 such that when the clinician grips thepistol grip portion 108 of the handle 102, the closure trigger 122 maybe easily pivoted from a starting or unactuated position to an actuatedposition and more particularly to a fully compressed or fully actuatedposition. The closure trigger 122 may be biased into the unactuatedposition by spring or other biasing arrangement (not shown). In variousforms, the closure drive system 120 further includes a closure linkageassembly 124 that is pivotally coupled to the closure trigger 122. Ascan be seen in FIG. 2, the closure linkage assembly 124 may include aclosure link 126 that that is pivotally coupled to the closure trigger122. In addition, the closure linkage assembly 124 includes anotherclosure link 127 that has a pair of laterally extending attachment lugsor portions 128 protruding therefrom.

Still referring to FIG. 2, it can be observed that the closure link 126may have a locking wall 130 thereon that is configured to cooperate witha closure release assembly 140 that is pivotally coupled to the frame110. In at least one form, the closure release assembly 140 may comprisea release button assembly 142 that has a distally protruding camfollower arm 144 formed thereon. The release button assembly 142 may bepivoted in a counterclockwise direction by a release spring 146. As theclinician depresses the closure trigger 122 from its unactuated positiontowards the pistol grip portion 108 of the handle 102, the closure link126 pivots upward to a point wherein the cam follower arm 144 drops intoretaining engagement with the locking wall 130 on the closure link 126thereby preventing the closure trigger 122 from returning to theunactuated position. Thus, the closure release assembly 140 serves tolock the closure trigger 122 in the fully actuated position. When theclinician desires to unlock the closure trigger 122 to permit it to bebiased to the unactuated position, the clinician simply pivots theclosure release button assembly 142 such that the cam follower arm 144is moved out of engagement with the locking wall 130 on the closure link126. When the cam follower arm 144 has been moved out of engagement withthe closure link 126, the closure trigger 122 may pivot back to theunactuated position. Other closure trigger locking and releasearrangements may also be employed.

In at least one form, the handle 102 and the frame 110 may operablysupport another drive system referred to herein as firing drive system150 that is configured to apply firing motions to corresponding portionsof the interchangeable shaft assembly 200 attached thereto. The firingdrive system may also be referred to herein as a “second drive system”.The firing drive system 150 may employ an electric motor (“firingmotor”) 152, located in the pistol grip portion 108 of the handle 102.In various forms, the firing motor 152 may be a DC brushed driving motorhaving a maximum rotation of, approximately, 25,000 RPM, for example. Inother arrangements, the firing motor may include a brushless motor, acordless motor, a synchronous motor, a stepper motor, or any othersuitable electric motor. A battery 154 (or “power source” or “powerpack”), such as a Li ion battery, for example, may be coupled to thehandle 102 to supply power to a control circuit board assembly 156 andultimately to the firing motor 152.

The firing motor 152 can include a rotatable shaft (not shown) thatoperably interfaces with a gear reducer assembly 158 that is mounted inmeshing engagement with a with a set, or rack, of drive teeth 162 on alongitudinally-movable drive member 160. In use, a voltage polarityprovided by the battery can operate the firing motor 152 in a clockwisedirection wherein the voltage polarity applied to the electric motor bythe battery can be reversed in order to operate the electric motor 152in a counter-clockwise direction. When the electric motor 152 is rotatedin one direction, the drive member 160 will be axially driven in thedistal direction “DD”. When the motor 152 is driven in the oppositerotary direction, the drive member 160 will be axially driven in aproximal direction “PD”. The handle 102 can include a switch which canbe configured to reverse the polarity applied to the firing motor 152 bythe battery. As with the other forms described herein, the handle 102can also include a sensor or sensors that are configured to detect theposition(s) of the drive member 160 and/or the direction(s) in which thedrive member 160 is being moved.

In the illustrated instrument, actuation of the firing motor 152 iscontrolled by a firing trigger 170 that is pivotally supported on thehandle 102. The firing trigger 170 may be pivoted between an unactuatedposition and an actuated position. The firing trigger 170 may be biasedinto the unactuated position by a spring (not shown) or other biasingarrangement such that when the clinician releases the firing trigger170, it may be pivoted or otherwise returned to the unactuated positionby the spring or biasing arrangement. In the illustrated form, thefiring trigger 170 is positioned “outboard” of the closure trigger 122as was discussed above. In at least one form, a firing trigger safetybutton 172 is pivotally mounted to the closure trigger 122. The safetybutton 172 is positioned between the firing trigger 170 and the closuretrigger 122 and has a pivot arm 174 protruding therefrom. When theclosure trigger 122 is in the unactuated position, the safety button 172is contained in the handle housing 100 where the clinician cannotreadily access it and move it between a safety position preventingactuation of the firing trigger 170 and a firing position wherein thefiring trigger 170 may be fired. As the clinician depresses the closuretrigger 122, the safety button 172 and the firing trigger 170 pivot downwherein they can then be manipulated by the clinician.

As indicated above, in at least one form, the longitudinally movabledrive member 160 has a rack of teeth 162 formed thereon for meshingengagement with a corresponding drive gear 159 of the gear reducerassembly 158. At least one form may also include a manually-actuatable“bailout” assembly 180 that is configured to enable the clinician tomanually retract the longitudinally movable drive member 160 should thefiring motor 152 become disabled. The bailout assembly 180 may include alever or bailout handle assembly 182 that is configured to be manuallypivoted into ratcheting engagement with the teeth 162 in the drivemember 160. Thus, the clinician can manually retract the drive member160 by using the bailout handle assembly 182 to ratchet the drive memberin the proximal direction “PD”. U.S. Patent Application Publication No.2010/0089970, now U.S. Pat. No. 9,072,535, discloses bailoutarrangements and other components, arrangements and systems that mayalso be employed with the various instruments disclosed herein. U.S.patent application Ser. No. 12/249,117, entitled POWERED SURGICALCUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM,now U.S. Pat. No. 8,608,045, is hereby incorporated by reference in itsentirety herein.

FIG. 1 illustrates the surgical instrument 10 with an interchangeableshaft assembly 200 operably coupled thereto. As indicated above, theshaft assembly 200 may be configured for quick attachment and detachmentto the housing 100. The closure member assembly 210 includes a distalclosure member segment 220 that is pivotally attached to a proximalclosure member segment 230 at the articulation joint 240. The distalclosure member segment 220 includes a U-shaped opening 222 that isconfigured to operably engage an upstanding anvil tab 322 on the anvil320 when the closure member assembly is drawn in the proximal direction“PD”. When the U-shaped opening 222 engages the anvil tab 322, the anvil320 is pivoted to an open position. Specific details regarding examplesof the articulation joint 240 and or other suitable articulation jointarrangements may be found in the various documents that have been hereinincorporated by reference.

Referring now to FIGS. 3 and 7, the shaft assembly 200 includes a spineassembly 250 upon which the closure member assembly 210 is movablysupported. The spine assembly 250 includes a distal end 252 that ispivotally attached to a proximal end 304 of the elongate channel 302.See FIG. 7. Such arrangement facilitates pivotal articulation of the endeffector 300 relative to the distal end 252 of the spine assembly 250about an articulation axis A-A which is transverse to the shaft axisSA-SA. See FIG. 1. In various implementations, the end effector 300 mayalso be selectively rotatable relative to the housing 100 about theshaft axis SA-SA (represented by arrow “R” in FIG. 1). Because the endeffector 300 is directly attached to the distal end 252 of the spineassembly 250, rotation of the spine assembly 250 relative to the housing100 results in rotation of the end effector 300 as well. In theillustrated implementation, the interchangeable shaft assembly 200includes a rotation nozzle 400 that is rotatably journaled or otherwiserotationally supported by the handle 102. In the illustratedimplementation, for example, the rotation nozzle 400 comprises twonozzle portions 402, 404 that are coupled together by snap features,screws, adhesive, etc. and include two opposed, inwardly extending lugs406 that are seated in corresponding notches 254 in the proximal end 252of the spine assembly 250. See FIG. 3. Such arrangement facilitatesrotation of the spine assembly 250 when the nozzle 400 is rotated.

Articulation of the end effector 300 about the articulation axis A-A isaccomplished by actuation of an articulation system 500. In theillustrated implementation, for example, the articulation system 500includes an articulation motor 510 that is used to actuate first andsecond articulation drivers 520, 530. See FIGS. 5 and 6. Thearticulation motor 510 may comprise a motor similar to the firing motoror any one of the various motor configurations discussed herein andincludes an articulation drive gear 512 that is in meshing engagementwith a first gear rack 524 on the proximal end 522 of the firstarticulation driver 520. The articulation gear 512 is also in meshingengagement with a second gear rack 534 on the proximal end 532 of thesecond articulation driver 530. As can be most particularly seen in FIG.5, the articulation gear 512 is centrally disposed between the first andsecond gear racks 524, 534 such that rotation of the articulation gearin a first direction will result in the axial movement of the firstarticulation driver 520 in a distal direction “DD” and the simultaneousaxial movement of the second articulation driver 530 in the proximal“PD” or opposite axial direction. Likewise, rotation of the articulationgear 512 in a second rotary direction will result in the axial movementof the second articulation driver 530 in the distal direction “DD” andthe simultaneous axial movement of the first articulation driver 520 inthe proximal or opposite direction “PD”. Referring to FIG. 7, the distalend 526 of the first articulation driver 520 includes a slot 528 that isconfigured to receive a corresponding pin 304 formed on the elongatechannel 302. Likewise, the distal end 536 of the second articulationdriver 530 includes a slot 538 that is configured to receive acorresponding pin 306 formed on the elongate channel 302. Thus, axialmovement of the articulation drivers 520, 530 in the above describedmanner will applying simultaneous “pushing and pulling” motions to theelongate channel 302 and thereby result in pivotal articulation of theend effector 300 about the articulation axis A-A.

As indicated above, the surgical instrument 10 also includes a tissuecutting member that is configured for axial travel through the elongateslot 316 in the surgical staple cartridge 310. In the illustratedimplementation, for example, the tissue cutting member or tissue cuttingsurface (not shown) is formed on or otherwise attached to a distalfiring member 550. The distal firing member 550 may be of laminatedconstruction to facilitate bending about the articulation axis A-A whileremaining sufficiently rigid to enable the tissue cutting edge to bedriven through tissue that is clamped between the surgical staplecartridge and the anvil as well as driving the wedge sled therethrough.Various distal firing member and tissue cutting member configurationsare known and are disclosed in the patents and/or patent applicationsthat have been herein incorporated by reference. The distal firingmember 550 is attached to a proximal firing member 560 that is supportedfor axial travel relative to the spine assembly 250. The proximal firingmember 560 has a centrally disposed axial slot 562 therein toaccommodate the drive shaft 511 of the articulation motor 510. See FIG.5. Such arrangement facilitates axial travel of the proximal firingmember 560 in response to firing motions applied thereto by the firingsystem. The proximal end 564 of the proximal firing member 560 includesa lug 566 that is configured to be receive in a firing rod attachmentcradle 164 provided in the distal end 162 of the movable drive member160. See FIG. 2. Thus, actuation of the firing motor 152 will result inthe axial movement of the movable drive member 160 and the proximalfiring member 560 and the distal firing member 550.

The firing motor 152 and the articulation motor 510 communicate with thecontrol circuit 156 (FIG. 2) and are interlocked by a switchingarrangement generally designated as 600. In the illustratedconfiguration, the switching arrangement 600 includes a switch drum 610that is rotatably supported on the proximal closure member segment 230.See FIG. 3. The switch drum 610 includes a laterally extending boss 611that has an inwardly extending cam pin 612 mounted (press-fit) therein.The cam pin 612 extends inwardly into a cam slot 232 provided in theproximal closure member segment 230. See FIG. 4. The switch drum 610further includes opposed slots 614 that are configured to accommodaterotation of the nozzle lugs 406 therethrough. An articulation slot 617is also provided to facilitate rotation of the switch drum 610 relativeto the articulation motor 510. See FIG. 3. The switching arrangement 600also includes a slip ring assembly 620 which is configured to conductelectrical power and/or signals to and/or from the end effector 300 tothe handle 102 and more particularly to the control circuit 156 withinthe handle 102. The slip ring assembly 620 includes a plurality ofconcentric, or at least substantially concentric, conductors 622 onopposing sides thereof which can be configured to permit relativerotation between the halves of the slip ring assembly 620 while stillmaintaining electrically conductive pathways therebetween. Examples ofsuch slip ring assemblies are disclosed U.S. patent application Ser. No.13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM,now U.S. Patent Application Publication No. 2014/0263552 and U.S. patentapplication Ser. No. 13/800,025, entitled STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM, now U.S. Pat. No. 9,345,481, and which are eachhereby incorporated by reference herein in their respective entireties.In the illustrated implementation, the slip ring assembly 620 includes abulkhead 624 that has a switch component 626 that communicates throughthe slip ring assembly 620 to the control circuit 156. The switcharrangement 600 also includes a movable switch component 618 that ismounted to a switch arm portion 616 of the switch drum 610.

Referring to FIG. 4, it can be seen that the cam slot 232 has a firstportion 232A and a second portion 232B. When the closure member 230 isin the proximal (unactuated) position, the cam pin 612 is in the firstportion 232A of the cam slot 232. A lock out spring 630 is mounted onthe switch drum boss 611 to bias the switch drum 610 into that firstposition wherein the cam pin 612 is in the first portion 232A of the camslot 232. See FIG. 3. When in that first position, the movable switchcomponent 618 is not in contact or in “actuation proximity” with switchcomponent 626. When in this “firing lock” position, the control circuitprevents actuation of the firing motor 152. Stated another way, unlessthe movable switch component 618 actuates switch component 626, no poweris supplied to the firing motor 152. Thus, even if the clinician were toactuate the firing trigger 170 in an attempt to actuate the firing motor152, the firing motor 152 would not actuate.

During a typical surgical procedure, the clinician may introduce the endeffector 300 into the surgical site through a trocar or other opening inthe patient to access the target tissue. In an effort to position theend effector in a desired position relative to the target tissue, theclinician may actuate the articulation motor 510 by actuating a rockerswitch 515 mounted on the handle 102. The rocker switch 515 communicateswith the control circuit 156 and by rocking the rocker switch 515 in afirst direction will cause the articulation motor 510 to rotate in afirst direction and result in articulation of the end effector 300 in afirst articulation direction. Rocking the switch 515 in a seconddirection will result in rotation of the articulation motor 510 in anopposite rotary direction and cause the end effector 300 to articulatein a second opposite articulation direction. Once the clinician haspositioned the end effector 300 in a desired position, the clinician canrelease the switch 515 to stop the articulation. At this point, thetarget tissue may be positioned between the surgical staple cartridge310 and the anvil 320. The clinician may then move the anvil 320 to aclosed position wherein the target tissue is clamped between the staplecartridge 310 and the anvil 320.

The closure member assembly 210 is actuated by actuating the closuretrigger 122. The proximal end of the proximal closure member segment 230is supported in a closure member attachment yoke (not shown) that ismovably supported in a frame portion (not shown) of the shaft assembly200. Examples of the closure member attachment yoke and the frameportion of the shaft assembly are described in further detail in U.S.patent application Ser. No. 13/803,097, entitled ARTICULATABLE SURGICALINSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No. 9,687,230, whichhas been herein incorporated by reference in its entirety. As theclinician depresses the closure trigger 122, the closure member assembly210 is moved in the distal direction “DD” which ultimately causes theanvil 320 to pivot to the clamped position onto the target tissue. Asthe closure member assembly 210 moves distally, the cam pin 612interacts with the cam slot 232 and is cammed into portion 232B of thecam slot 232. Movement of the cam pin 612 into the portion 232B of thecam slot 232 results in the rotational movement of the switch drumassembly 610 in actuation direction (represented by arrow “AD” in FIG.3). As the switch drum 610 is biased into the actuation direction “AD”against the force of the spring 630, the switch component 618 is broughtinto activation/registration with switch component 626 which causes thecontrol circuit board 156 to permit power to flow to the firing motor152 upon actuation of the firing trigger 170. When in that closedposition, the closure member assembly 210 and the anvil 320 are lockedin the closed position in the manner described above. The controlcircuit 156 may also be configured such that when the switch components618 and 626 are in actuation registration, the control circuit 156prevents any flow of power to the articulation motor 510 should therocker switch 515 be inadvertently actuated. Once the closure memberassembly 210 and anvil 320 are locked in clamped position, the clinicianmay actuate the firing trigger 170 to drive the cutting member throughthe end effector 300 and cut the target tissue clamped therein and firethe surgical fasteners on each side of the tissue cut line. The endeffector 300 may also be equipped with sensors that communicate with thecontrol circuit 156 to detect when the tissue cutting member has reachedits distal-most position to thereby signal the firing motor 152 to stopand reverse its direction to retract the tissue cutting member to itsstarting position. Other sensors may be employed to detect when thetissue cutting member has returned to the starting position andcommunicate with the control circuit 156 to thereby provide theclinician with an indication of the status of the tissue cutting memberand/or enable the closure member assembly to be unlocked. Once theclosure member assembly 210 has been unlocked, the lock out spring 630,acting on the switch drum 610, will urge the cam pin 612 to rotatablyreturn to the portion 232A of the cam slot 232. Rotation of the switchdrum 610 back to that starting position will deactivate the switch 626which will once again prevent actuation of the firing motor 152.

FIGS. 9-11 illustrate another shaft assembly 200′ that is substantiallysimilar to shaft assembly 200 except for the differences discussedbelow. Those portions/components of shaft assembly 200′ that are alsofound in shaft assembly 200 will be designated with like elementnumbers. As can be seen FIGS. 9-11, the shaft assembly 200′ includes anarticulation system 500′ that comprises an articulation motor 510′ thatis used to actuate first and second articulation drivers 520′, 530′. SeeFIGS. 10 and 11. The articulation motor 510′ includes an articulationworm gear 512′ that is in meshing engagement with an articulation gearassembly 700. In one form, the articulation gear assembly comprises anarticulation spur gear 702 that is in meshing engagement with thearticulation worm gear 512′ and an articulation drive gear 704 that isin meshing engagement with portions of the first and second articulationdrivers 520′, 530′. The articulation gear assembly 700 and, moreparticularly, drive gear 704 is centrally disposed between a first gearrack 524′ on the first articulation driver 520′ and a secondarticulation gear rack 534′ on the second articulation driver 530′.Rotation of the articulation drive gear 704 in a first direction willresult in the axial movement of the first articulation driver 520′ in adistal direction “DD” and the simultaneous axial movement of the secondarticulation driver 530′ in the proximal “PD” or opposite axialdirection. Likewise, rotation of the articulation drive gear 704 in asecond rotary direction will result in the axial movement of the secondarticulation driver 530′ in the distal direction “DD” and thesimultaneous axial movement of the first articulation driver 520′ in theproximal or opposite direction “PD”.

Referring to FIG. 11, the distal end 526′ of the first articulationdriver 520′ includes a slot 528′ that is configured to receive acorresponding pin 304 formed on the elongate channel of the end effector300. Likewise, the distal end 536′ of the second articulation driver530′ includes a slot 538′ that is configured to receive a correspondingpin 306 formed on the elongate channel. Thus, axial movement of thearticulation drivers 520′, 530′ in the above described manner willapplying simultaneous “pushing and pulling” motions to the elongatechannel of the end effector 300 and thereby result in pivotalarticulation of the end effector 300 about the articulation axis. Asindicated above, the surgical instrument 10 also includes a tissuecutting member that is configured for axial travel through the elongateslot in the surgical staple cartridge that is supported in the endeffector 300. The tissue cutting member or tissue cutting surface (notshown) is formed on or otherwise attached to the distal firing member550. The distal firing member 550 is attached to a firing rod 560′ thatis supported for axial travel within the spine assembly 250. Theproximal firing member 560′ has a centrally disposed axial slot therein(not shown) to accommodate the gear drive shaft 701 upon whicharticulation spur gear 702 and articulation drive gear 704 are mounted.See FIGS. 9 and 10. Such arrangement facilitates axial travel of theproximal firing member 560′ in response to firing motions appliedthereto by the firing system. The proximal end 564′ of the proximalfiring member 560′ includes a lug 566′ that is configured to be receivein a firing rod attachment cradle 164 provided in the distal end 163 ofthe drive member 160. See FIG. 2. Thus, actuation of the firing motor152 will result in the axial movement of the drive member 160 and theproximal firing member 560′ and the distal firing member 550.

The firing motor 152 and the articulation motor 510 communicate with thecontrol circuit 156 (FIG. 2) and are interlocked by a switchingarrangement generally designated as 600. In the illustratedconfiguration, the switching arrangement 600 includes a switch drum 610′that is rotatably supported on the closure member 230′. The switch drum610′ includes a laterally extending boss 611′ that has an inwardlyextending cam pin 612′ mounted therein. Similar to the arrangementdescribed above, the cam pin 612′ extends inwardly into a cam slotprovided in the closure member 230′. The switch drum 610′ furtherincludes opposed slots 614′ that are configured to accommodate rotationof the nozzle lugs 406 therethrough. The switch drum 610′ has an openbottom portion 613′ to facilitate rotation of the switch drum 610′relative to the articulation motor 510′ and the articulation gearassembly 700. See FIG. 9. The switch arrangement 600′ also includes amovable switch component 618′ that is mounted to a switch arm portion616′ of the switch drum 610′.

As discussed above, when the closure member 230′ is in the proximal(unactuated) position, the cam pin 612′ is in a first portion of the camslot. A lock out spring 630′ is mounted on the switch drum boss 611′ tobias the switch drum 610′ into that first position wherein the cam pin612′ is in the first portion of the cam slot. When in that firstposition, the movable switch component 618′ is not in contact or in“actuation proximity” with switch component 626. When in this “firinglock” position, the control circuit prevents actuation of the firingmotor 152. Stated another way, unless the movable switch componentactuates switch component 626, no power is supplied to the firing motor152. Thus, even if the clinician were to actuate the firing trigger 170in an attempt to actuate the firing motor 152, the firing motor 152would not actuate.

In the illustrated example, closure member assembly 230′ is actuated byactuating the closure trigger 122. As the clinician depresses theclosure trigger 122, the closure member assembly 230′ is moved in thedistal direction “DD” which ultimately causes the anvil to pivot to theclamped position onto the target tissue. As the closure member assembly230′ moves distally, the cam pin 612′ interacts with the cam slot whichresults in the rotational movement of the switch drum assembly 610′. Asthe switch drum 610′ is biased into an actuation direction against theforce of the spring 612′, the switch component 618′ is brought intoactivation/registration with switch component 626 which causes thecontrol circuit board 156 to permit power to flow to the firing motor152 upon actuation of the firing trigger 170. When in that closedposition, the closure member assembly 210′ and the anvil are locked inthe closed position in the manner described above. The control circuit156 may also be configured such that when the switch components 618′ and626 are in actuation registration, the control circuit 156 prevents anyflow of power to the articulation motor 510′ should the rocker switch515 be inadvertently actuated. Once the closure member assembly 210′ andanvil are locked in clamped position, the clinician may actuate thefiring trigger 170 to drive the cutting member through the end effector300 and cut the target tissue clamped therein and fire the surgicalfasteners on each side of the tissue cut line. The end effector 300 mayalso be quipped with sensor(s) (not shown) that communicate with thecontrol circuit 156 to detect when the tissue cutting member has reachedits distal-most position to thereby provide the control circuit withinputs to cause the firing motor 152 to stop and reverse its directionto retract the tissue cutting member to its starting position. Othersensor(s) may be employed to detect when the tissue cutting member hasreturned to the starting position and communicate with the controlcircuit 156 to thereby communicate that information to the clinicianand/or enable the closure member assembly to be unlocked. Once theclosure member assembly 210′ has been unlocked, the lock out spring630′, acting on the switch drum 610′, will urge the cam pin 612′ torotatably return the switch drum 610′ back to that starting positionwhich will deactivate the switch 626 and once again actuation of thefiring motor 152 will be prevented by the control circuit.

FIGS. 12 and 13 illustrate an alternative shaft assembly 200″ that issubstantially similar to shaft assembly 200 except for the differencesdiscussed below. Those portions/components of shaft assembly 200″ thatare also found in shaft assembly 200 will be designated with likeelement numbers. As can be seen in those Figures, the shaft assembly200″ comprises a spine assembly 250″ that comprises a proximal frame endor proximal frame member 252″ that is attached to a shaft frame 260 thatis pivotally coupled to an end effector frame insert 330 that isattached to the elongate channel 302. The shaft frame 260 includes apivot pin 262 that is configured to be rotatably received within a pivotaperture (not shown) in the end effector frame insert 330. Sucharrangement serves to define the articulation joint 240 about which theend effector 300 may articulate.

The illustrated shaft assembly 200″ includes first and secondarticulation drivers 520″, 530″ that are similar to articulation drivers520, 530 as discussed above, except for the differences described below.As can be seen in FIGS. 12 and 13, for example, the first and secondarticulation drivers 520″, 530″ are slidably supported between the spineassembly 250″ and a closure member assembly 210″. Thus, the articulationdrivers 520″, 530″ slide axially between those components when actuatedto articulate the end effector 300 about the articulation joint 240. Toprovide support to the first and second articulation drivers 520″, 530″during actuation thereof, an idler gear 264 is centrally disposedbetween the articulation drivers 520″ and 530″. The first articulationdriver 520″ includes a first distal gear rack 527 and the secondarticulation driver 530″ include a second distal gear rack 537. Thefirst and second distal gear racks 527, 537 are in meshing engagementwith the idler gear 264 as shown. In addition, the proximal closuremember segment 230″ includes a first friction generating detent orlocking tooth 234 that is configured to slidably engage a first toothedor serrated portion 529 on the first articulation driver 520″. Theproximal closure member segment 230″ also includes a second frictiongenerating detent or locking tooth 236 that is configured to slidablyengage a second toothed or serrated portion 539 on the secondarticulation driver 530″. To facilitate some flexing of the serratedportions 529, 539 of the first and second articulation drivers 520″,530″, respectively during articulation of the end effector 300, anamount of clearance is provided between the corresponding portion of theproximal frame member 252″ and the serrated portions 529, 539 of thearticulation drivers 520″, 530″. For example, the portions of theproximal frame member 252″ that do not correspond to the serratedportions 529, 539 may have a diameter “D” and the portion of theproximal frame member 252″ that corresponds to the serrated portions529, 539 may have a smallest diameter of “M” wherein M<D. Sucharrangement provides clearance for flexing of the articulation drivers520″, 530″ as the drivers 520″, 530″ are axially advanced. During suchaxial advancement, the detent teeth 234, 236 engage the correspondingserrated portions 529, 539 to prevent the articulation drivers 520″,530″ from moving and essentially “lock” the end effector in position.This is not only advantageous for holding the end effector in anarticulated orientation during performance of a surgical procedure, butalso during shipping of the device which may prevent portions thereoffrom inadvertently becoming damaged. In addition, such lockingarrangements serve to retain the articulation drivers in theirrespective attachment positions prior to the attachment of the shaftassembly to the handle or housing. In alternative arrangements, thefriction generating detent or locking teeth may each be spring biasedinto contact with the corresponding serrated portions of thearticulation drivers. For example, each tooth may be separately movablein directions transverse to the serrated portions. A biasing member orspring may be situated in connection with each locking tooth to bias thetooth into retaining engagement with the corresponding serrated portion.

FIGS. 14-24 illustrate portions of another interchangeable shaftassembly 1200 that may be employed with surgical instrument 10. Thosecomponents of the interchangeable shaft assembly 1200 that are identicalto components of the interchangeable shaft assembly 200 described abovewill be described below with like element numbers. In the illustratedarrangement, the shaft assembly 1200 includes a spine assembly 1250 uponwhich a closure member assembly 1210 is movably supported. The spineassembly 1250 includes a proximal spine segment 1252 that rotatablysupported in a frame portion of the shaft assembly 1200. The proximalspine segment 1252 has two diametrically opposed notches 1253 that areconfigured to receive corresponding lug portions 1406 extending inwardlyfrom the nozzle portions 1402. Further details concerning the shaftframe assembly and the rotary attachment of the proximal spine segment1252 therein as well as the rotary attachment of the nozzle portions1402 thereto may be found in U.S. patent application Ser. No.13/803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AFIRING DRIVE, U.S. Pat. No. 9,687,230, which has been hereinincorporated by reference in its entirety.

Referring to FIGS. 16, 17, 18, 19, 22 and 24, the proximal spine segment1252 is coupled to a distal frame member 1256 by a frame rib 1254 thatextends therebetween within the closure member assembly 1210. As can beseen in FIGS. 20 and 21, the distal frame member 1256 is coupled to aframe 1260. The end effector 1300 is similar to end effector 300 and isconfigured to cut and staple/tissue in the above-described manners. Theend effector 1300 includes an elongate channel 1302 that has an endeffector frame insert 1330 attached thereto. Further details concerningthe frame and end effector frame insert may also be found in U.S. patentapplication Ser. No. 13/803,097, entitled ARTICULATABLE SURGICALINSTRUMENT COMPRISING A FIRING DRIVE, U.S. Pat. No. 9,687,230. The shaftframe 1260 includes a pivot pin 1262 that is configured to be rotatablyreceived within a pivot aperture (not shown) in the end effector frameinsert 1330. Such arrangement serves to define the articulation joint1240 about which the end effector 1300 may articulate. In theillustrated implementation, the interchangeable shaft assembly 1200includes a proximal articulation driver 1242 that interfaces with anarticulation lock 1270. Further details regarding the articulation lock1270 may also be found in U.S. patent application Ser. No. 13/803,097,entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,U.S. Pat. No. 9,687,230. As discussed in greater detail in that patentapplication, movement of the proximal articulation driver 1240, whetherit be proximal or distal, can unlock the articulation lock 1270.

Still referring to FIGS. 19 and 20, the articulation lock 1270 includesa distal articulation driver 1272 that is movably coupled to a drive pin1332 on the end effector frame insert 1330. For example, the drive pin1332 is closely received within a pin slot 1274 defined in the distalend 1273 of the distal articulation driver 1272 such that the drive pin1332 can bear against a proximal sidewall of the pin slot 1274 andtransmit a proximal pushing force P to the distal articulation driver1272. Such proximal pushing force P will only serve to bolster thelocking engagement achieved by the articulation lock 1270. In order torelease the locking engagement, and permit the end effector 1300 to berotated in the direction indicated by arrow 1241, referring now to FIG.21, the proximal articulation driver 1242 is pulled proximally tosufficiently unlock the lock components and permit the distalarticulation driver 1272 to be moved proximally. In variouscircumstances, the proximal articulation driver 1242 can continue to bepulled proximally until a portion thereof pulls the distal articulationdriver 1272 proximally to articulate the end effector 1300. After theend effector 1300 has been suitably articulated in the direction ofarrow 1241, the proximal articulation driver 10040 can be released, invarious circumstances, to permit the articulation lock 1270 to re-lockthe distal articulation member 1272 in position. Further detailsregarding the construction and operation of the articulation lock 1270may be found in U.S. patent application Ser. No. 13/803,097, entitledARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, U.S. Pat.No. 9,687,230, which has been herein incorporated by reference in itsentirety.

As discussed above, one form of the interchangeable shaft assembly 1200comprises an articulation driver system including a proximalarticulation driver 1242 and a distal articulation driver 1272. When adrive force is transmitted to the proximal articulation driver 1242,whether it be in the proximal direction or the distal direction, thedrive force can be transmitted to the distal articulation driver 1272through the articulation lock 1270. In various circumstances, further tothe above, the drive member 160 of the surgical instrument 10 can beutilized to impart such a drive force to the proximal articulationdriver 1242. For instance, the interchangeable shaft assembly 1200includes a clutch system 1700 which can be configured to selectivelyconnect the proximal articulation driver 1242 to the drive member 160 ofthe surgical instrument 10 such that the movement of the drive member160 is imparted to the proximal articulation driver 1242. In use, theclutch system 1700 is movable between an engaged state (FIG. 22) inwhich the proximal articulation driver 1242 is operably engaged with aproximal firing member 1560 (and drive member 160) and a disengagedstate (FIG. 24) in which the proximal articulation driver 1242 is notoperably engaged with the proximal firing member 1560 (and the drivemember 160).

In one form, the clutch system 1700 comprises an engagement member 1710which can be configured to directly connect the proximal articulationdriver 1242 to the proximal firing member 1560. As can be seen in FIG.16, for example, the proximal articulation driver 1242 includes aproximal tab 1243 that is received within an annular groove 1712provided in the perimeter of the engagement member 1710 to link theproximal articulation driver 1242 to the engagement member 1710 whilepermitting relative rotation therebetween. As can be seen in FIG. 17,the proximal firing member 1560 includes an elongate rod portion 1562that has an attachment lug 1564 formed on the proximal end thereof. Theattachment lug 1564 is configured to be rotatably supported in thecradle 162 on the drive member 160. See FIG. 2. As can be further seenin FIG. 17, the proximal firing member 1560 further comprises a firingrod coupler 1566 that is formed on the distal end of the rod 1562. Thefiring rod coupler 1566 includes a closed distal end 1567 that defines acylindrical passage 1568. An aperture 1569 is formed through the closeddistal end 1567 that is adapted to slidably receive a proximal end 1572of an intermediate firing member 1570 therethrough. In the illustratedexample, the intermediate firing member 1570 includes a stop member inthe form of a disc 1574 that is formed on the proximal end 1572 thereofand is sized for sliding travel within the cylindrical passage 1568 inthe firing rod coupler 1566. The distal end of the intermediate firingmember 1570 is coupled to the proximal end of the distal firing member550 in the various manners disclosed in, for example, U.S. patentapplication Ser. No. 13/803,097, entitled ARTICULATABLE SURGICALINSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No. 9,687,230, whichhas been herein incorporated by reference. In the illustratedarrangement, two diametrically-opposed, V-shaped engagement grooves 1580are formed in the perimeter of the firing rod coupler 1566. See FIGS.17-19. The V-shaped grooves 1580 are configured to slidably receivecorresponding V-shaped articulation detents 1714, 1715 formed on theinner surface 1713 of the engagement member 1710.

Further to the above, referring again to FIGS. 16-24, the clutch system1700 also comprises an actuator member 1720 that is configured toaxially move on the engagement member 1710. As can be most particularlyseen in FIG. 17, for example, a first engagement pin 1716 extendsoutward from the engagement member 1710 and is configured to be slidablyreceived within a slot 1722 extending through the actuator member 1720.Such arrangement facilitates relative axial movement of the actuatormember 1720 and the engagement member 1710 while also enabling theactuator member 1720 and engagement member 1710 to rotate as a unit.Also in the illustrated arrangement, the clutch system 1700 includes acam pin 1724 that protrudes from the actuator member 1720. As with thearrangement described above, the cam pin 1724 extends out through a camslot 1232 in a proximal closure member segment 1230. See FIG. 15.

The firing motor 152 communicates with the control circuit 156 and aswitching arrangement generally designated as 1600. In the illustratedconfiguration, the switching arrangement 1600 includes a switch drum1610 that is rotatably supported on the proximal closure member segment1230. The switch drum 1610 includes a laterally extending boss 1611 thatis adapted to receive an end of the cam pin 1724 therein. The switchdrum 1610 further includes opposed slots 1614 that are configured toaccommodate rotation of the nozzle lugs 1406 therethrough. See FIG. 14.The switching arrangement 1600 also includes a slip ring assembly 1620which is configured to conduct electrical power and/or signals to and/orfrom the end effector 1300 to the handle 102 and more particularly tothe control circuit 156 within the handle 102. The slip ring assembly1620 includes a plurality of concentric, or at least substantiallyconcentric, conductors 1622 on opposing sides thereof which can beconfigured to permit relative rotation between the halves of the slipring assembly 1620 while still maintaining electrically conductivepathways therebetween. In the illustrated implementation, the slip ringassembly 1620 includes a bulkhead 1624 that has a switch component 1626that communicates through the slip ring 1620 to the control circuit 156.The switch arrangement 1600 also includes a movable switch component1618 that is mounted to a switch arm portion 1616 of the switch drum1610. See FIG. 14.

As discussed above, during a typical surgical procedure, the clinicianmay introduce the end effector 1300 into the surgical site through atrocar or other opening in the patient to access the target tissue. FIG.20 illustrates the position of the end effector 1300 for insertionthrough a trocar port or otherwise into the patient to access the targettissue. As can be seen in that Figure, the end effector 1300 isunarticulated or stated another way is axially aligned with the shaftaxis SA-SA. Once the end effector 1300 has passed through the trocarport, for example, the clinician may need to articulate the end effector1300 to advantageously position it adjacent the target tissue. FIGS. 15,18, 20, 21 and 22 illustrate the positions of the clutch systemcomponents when the clutch system 1700 is in the articulationorientation. During the articulation process, the end effector 1300 isin an open position. Stated another way, the closure member assembly1210 is positioned in its proximal “unactuated” position such that thedistal end of the anvil of the end effector 1300 is spaced away from thesurgical staple cartridge. FIG. 15 illustrates the position of theproximal closure member segment 1230 when in the unactuated or openposition. As can be seen in that Figure, the cam pin 1724 is located inthe upper portion of the cam slot 1232. When in that position, the campin 1724 locates the switch drum 1610 such that the switch component1618 on the switch arm 1616 is not in actuation proximity or alignmentwith the switch component 1626 on the switch bulkhead 1624. Thus, whenthe switch 1626 is not actuated by switch 1618, the control circuit 156may be configured to permit the firing motor 152 to fire for a limitedclosing stroke but unable to fire for a period that is sufficient toactuate or advance the intermediate firing member 1570 and the distalfiring member 550 as will be discussed in further detail below. As canbe seen in FIG. 14, a firing system lockout spring 1150 is provided onthe boss 1611 of the switch drum 1610 to bias the switch drum 1610 andultimately the cam pin 1724 into the upper portion of the cam slot 1232in the unactuated or open position. See FIG. 14. Thus, when the closuremember assembly 1210 and ultimately the anvil of the end effector 1300is in the open position, actuation of the firing motor 152 will notresult in the advancement of the intermediate firing member 1570 and thedistal firing member 550 through the end effector 1300.

Referring to FIGS. 18 and 22, when the clutch system 1700 is in thearticulation orientation, the V-shaped detents 1714, 1715 are notaligned with the corresponding V-shaped slots 1580 in the firing rodcoupler 1566. Thus, advancement of the drive member 160 and the proximalfiring member 1560 in the distal direction “DD” will result in thedistal advancement of the proximal articulation driver 1242 as shown inFIG. 21, for example. Such arrangement serves to pivot the end effector1300 in the direction represented by arrow 1241 in FIG. 21. The drivemember 160 and the proximal firing member 1560 are advanced distally byactuating the firing motor 152 in a first direction. In oneimplementation, the firing motor 152 may be actuated by actuating arocker switch 515 mounted on the handle 102 in a first direction. Topivot the end effector 1300 in a second opposite direction (representedby arrow 1243 in FIG. 21) the rocker switch 515 is actuated in a secondor opposite direction. In either case, however, because the closuremember assembly 1210 is in the open position and the switch 1618 on theswitch drum 1610 is out of actuation orientation with the switch 1626 onthe switch bulkhead 1624, the control circuit 156 only permits actuationof the firing motor 152 for the time necessary to attain the desiredarticulation stroke but not of sufficient duration so as to advance theintermediate firing member 1570 distally. FIG. 20 illustrates theposition of the stop member 1574 located on the distal end of theintermediate firing member 1570 within the cylindrical passage 1568 inthe firing rod coupler 1566 when the clutch system 1700 is in thearticulation mode, but prior to actuation of the firing motor 152. FIG.21 illustrates the position of the stop member 1574 within thecylindrical passage 1568 after the firing motor 152 has been actuated todrive the proximal firing member 1560 in the proximal direction “PD”.Because the V-shaped detents 1714 and 1715 are not aligned with thecorresponding V-shaped slots 1580, movement of the proximal firingmember 1560 and the firing rod coupler 1566 in the proximal direction“PD” causes the bottom of the firing rod coupler 1566 to contact theproximal detents 1715 and drive the engagement member 1710 in theproximal direction “PD” as well. Movement of the firing rod coupler 1566also drives the articulation driver 1242 in the proximal directionthereby causing the end effector 1300 to articulate in the directionrepresented by arrow 1241 in FIG. 21. Actuation of the firing motor 152in an opposite rotary direction will cause the proximal firing member1560 to move in the distal direction “DD” such that the end 1567 thereofcontacts the distal detents 1714 to drive the engagement member 1710distally. Such distal movement of the engagement member 1710 also causesthe articulation driver 1242 in the distal direction “DD” which resultsin the articulation of the end effector 1300 in an opposite articulationdirection (represented by arrow 1243 in FIG. 21). Thus, it may beappreciated from the foregoing discussion that the proximal firingmember 1560 may move axially for a predetermined amount of axial travelwithout axially advancing the intermediate firing member 1570 and thedistal firing member 550 attached thereto. This predetermined amount ofaxial travel may be defined by the axial length “L” of the cylindricalpassage 1568 in the firing rod coupler 1566. See FIG. 19.

Once the clinician has positioned the end effector 1300 in the desiredorientation wherein the target tissue is located between the anvil andthe staple cartridge, the clinician may then close the anvil to clampthe target tissue between the anvil and the staple cartridge. Asdiscussed above, the anvil may be closed by actuating the closuretrigger 122 to axially advance the closure member assembly 1210 in thedistal direction “DD”. As the closure member assembly 1210 movesdistally, the cam slot 1232 in the proximal closure member segment 1230causes the cam pin 1724 to move to the bottom of the cam slot 1232 (thismovement is represented by arrow 1725 in FIG. 15). As the cam pin 1724moves in the direction 1725, the switch drum 1610 is rotated on theclosure member assembly 1210 such that the switch arm 1616 moves switchcomponent 1618 into actuation registration with switch component 1626 tothereby provide the control circuit 156 with a signal indicating thatthe closure member assembly 1210 and, more precisely, that the anvil isin a closed position and ready for firing. The control circuit 156 willthen enable the firing motor 152 to, upon actuation of the firingtrigger 170, rotate for a sufficient firing time as to drive the distalfiring member 550 (and cutting instrument attached thereto or otherwisemounted thereon) to its ending or completely fired position within theend effector 1300. FIGS. 19, 23 and 24 illustrate the positions of thevarious components of the clutch system 1700 in the firing orientation.

Many motorized surgical cutting and fastening instruments utilize aseparate drive rod for articulation and for firing the device. Althoughthat method employs a somewhat simple architecture, it can prove costlyand have increased reliability concerns due to the fact that full drivesystems are replicated in the design. Various arrangements disclosedherein employ a single drive mechanism to do both articulation andfiring that also provide a means to lock the articulation before firing.

When an articulatable end effector is used in surgery, it is desirableto prevent inadvertent detachment of the end effector from the surgicalinstrument, particularly when the end effector is in an articulatedorientation. This problem can be exacerbated when using surgicalinstruments that employ interchangeable shaft assemblies that aredetachable from the instrument handle or housing. For example, duringuse it is important to avoid inadvertent or in some cases carelessdetachment of the shaft assembly or end effector from the instrumentwhen the end effector is in an articulated orientation. FIG. 25illustrates another articulatable surgical instrument 2010 that includesan interchangeable shaft assembly 2200 that is removably mounted to thehandle 2102 of the instrument 2010. An end effector 2300 is attached tothe interchangeable shaft assembly 2200 and is selectively articulatableabout an articulation axis B-B. The shaft assembly 2200 includes aunique and novel locking system for preventing detachment of theinterchangeable shaft assembly 2200 from the handle 2102 when the endeffector is in an articulated orientation. The surgical instrument 2010is identical to surgical instrument 10 described above except for atleast the differences discussed below. As can be seen in that Figure,the depicted surgical instrument 2010 is motor driven (or “powered”) andincludes a housing or handle 2102 that has interchangeable shaftassembly 2200 operably attached thereto. Various features and detailsregarding interchangeable shaft assemblies may be found in U.S. patentapplication Ser. No. 13/803,053, entitled INTERCHANGEABLE SHAFTASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, U.S. Patent ApplicationPublication No. 2014/0263564, the entire disclosure of which is herebyincorporated by reference herein and in U.S. patent application Ser. No.14/226,075, filed Mar. 26, 2014, entitled MODULAR POWERED SURGICALINSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. Pat. No.9,743,929, the entire disclosure of which is also hereby incorporated byreference herein.

Still referring to FIG. 25, an end effector 2300 is operably attached tothe interchangeable shaft assembly 2200. The end effector 2300 may beidentical to end effector 300, for example and include, among otherthings, an elongate channel 2302 that is configured to operably supporta staple cartridge 2310 therein. The end effector 2300 further includesan anvil 2350 that has a staple forming undersurface thereon. The anvil2350 is moved between open and closed positions by a closure tubeassembly 2120 that is axially advanced in the distal and proximaldirections by actuating a closure trigger 2122. The closure tubeassembly 2120 includes a proximal closure tube shaft segment 2230 thatis operably coupled to a distal closure tube segment 2220 by anarticulation joint 2240 to facilitate articulation of the end effector2300 about an articulation axis B-B that is transverse to a shaft axisSA-SA defined by the interchangeable shaft assembly 2200.

Referring to FIG. 26, the shaft assembly 2200 includes a chassis 2270that is configured to be removably coupled to the handle 2102. Variousshaft assembly embodiments employ a latch system 2280 for removablycoupling the shaft assembly 2200 to the handle 2102 and morespecifically to the handle frame. As can be seen in FIG. 26, forexample, in at least one form, the latch system 2280 includes a lockmember or lock yoke 2282 that is movably coupled to the chassis 2270. Inthe illustrated embodiment, for example, the lock yoke 2282 has aU-shape with two spaced downwardly extending legs 2284. The legs 2284each have a pivot lug 2285 formed thereon that is adapted to be receivedin corresponding holes (not shown) that are formed in the chassis 2270.See FIG. 27. Such arrangement facilitates pivotal attachment of the lockyoke 2282 to the chassis 2270. The lock yoke 2282 may include twoproximally protruding lock lugs 2286 that are configured for releasableengagement with corresponding lock detents or grooves 2105 in the distalattachment flange 2103 of the frame. See FIG. 27. The lock yoke 2282 maybe biased in the proximal direction “PD” by a first spring or biasingmember (not shown). Actuation of the lock yoke 2282 may be accomplishedby a latch button 2287 that is slidably mounted on a latch actuatorassembly that is mounted to the chassis 2270. The latch button 2287 maybe biased in a proximal direction relative to the lock yoke 2282. Aswill be discussed in further detail below, the lock yoke 2282 may bemoved to an unlocked position by biasing the latch button 2287 in thedistal direction “DD” which also causes the lock yoke 2282 to pivot outof retaining engagement with the distal attachment flange 2103 of theframe. When the lock yoke 2282 is in “retaining engagement” with thedistal attachment flange 2103 of the frame, the lock lugs 2286 areretainingly seated within the corresponding lock detents or grooves 2105in the distal attachment flange 2103.

The interchangeable shaft assembly 2200 includes a closure shuttle 2136that is slidably supported within the chassis 2270. The proximal closuretube segment 2230 is coupled to the closure shuttle 2136 for relativerotation thereto. For example, a U shaped connector 2137 is insertedinto an annular slot 2231 in the proximal closure tube segment 2230 andis retained within vertical slots in the closure shuttle 2136. Such anarrangement serves to attach the proximal closure tube segment 2230 tothe closure shuttle 2136 for axial travel therewith while enabling theproximal closure tube segment 2230 to rotate relative to the closureshuttle 2136 about the shaft axis SA-SA. The proximal closure shuttle2136 includes hooks 2138 that are adapted to hookingly engage anattachment pin (not shown) that is attached to a second closure link(not shown) that is operably coupled to the closure trigger 2122 asdescribed in detail in U.S. patent application Ser. No. 14/226,075. Asdescribed in that reference, actuation of the closure trigger 2122 willdistally advance the closure link and apply a distal closure motion tothe proximal closure shuttle 2136 and ultimately to the proximal closuretube segment 2230. A closure spring (not shown) is journaled on theproximal closure tube segment 2230 and serves to bias the proximalclosure tube segment 2230 in the proximal direction “PD” which can serveto pivot the closure trigger 2122 into the unactuated position when theshaft assembly 2200 is operably coupled to the handle 2102.

The interchangeable shaft assembly 2200 further includes an articulationsystem 2500 for applying articulation motions to the first and secondarticulation bars 2510, 2520 that extend through the shaft assembly tooperably interface with the end effector 2300. In the illustratedexample, the articulation system 2500 further includes an articulationactuator 2550 that is rotatably supported on a nozzle housing 2530 thatis supported on the chassis 2270. The nozzle housing may comprise twonozzle segments 2532, 2534 that are coupled together by a plurality offasteners 2536. The articulation actuator 2550 comprises an articulationknob 2552 that is coupled to an articulation gear assembly 2560 that hasan articulation pivot gear 2562 thereon. The articulation pivot gear2562 is supported in meshing engagement with a first articulation gearrack 2512 that is attached to the first articulation bar 2510 and asecond articulation gear rack 2522 that is attached to the secondarticulation bar 2520. Rotation of the articulation knob 2552 drivinglyadvances one of the articulation bars 2510, 2520 in a proximal or distaldirection and the other of the articulation bars 2510, 2520 in theopposite direction to cause the end effector 2300 to articulate aboutthe articulation axis in the desired direction.

The surgical end effector 2300 includes a firing member in the form of atissue cutting member (not shown). The interchangeable shaft assembly2200 also includes a firing rod segment 2570 that is configured to applyfiring motions to the firing member. In the illustrated example, thefiring rod segment is moved axially through the shaft assembly 2200 bythe motor-driven firing system in the various manners described infurther detail in the various references incorporated herein.

To prevent inadvertent detachment of the interchangeable shaft assembly2200 from the handle 2102 when the end effector 2300 is in anarticulated orientation, the shaft assembly 2200 further includes aunique and novel lock assembly generally designated as 2580. In theillustrated example, the gear assembly 2560 further includes a lockingflange 2564 that has a lock notch 2566 therein. The lock assembly 2580further includes a lock member 2582 that has pointed or tapered distalend 2584 that is configured for locking engagement with the lock notch2566. The lock member 2582 is attached to the lock yoke 2282. In theillustrated example the lock member 2582 has an aperture 2588 that isadapted to receive a lock boss 2283 formed on the lock yoke 2282 tofacilitate attachment of the lock member 2582 to the lock yoke 2282. SeeFIG. 26. T In the illustrated example, the articulation knob 2552 isattached to the articulation lock assembly 2560 such that the lock notch2566 is aligned for locking engagement with the lock member 2582 whenthe actuator fin portions 2553 of the articulation knob 2552 are axiallyaligned with the shaft axis A-A. See FIG. 25. When in such arrangement,the fin portions indicate to the clinician that the end effector 2300 isunarticulated and essentially in axial alignment with the shaft axis SA.Also when in that position, the distal end 2584 of the lock member 2582is received in the lock notch 2566. When in that position, sufficientclearance is provided between the distal end 2584 of the lock member2582 and the lock notch 2566 to enable the lock yoke 2282 to be moved inthe distal direction to thereby detach the interchangeable shaftassembly 2200 from the handle. Thus, when the end effector is in theunarticulated orientation, the shaft assembly 2200 is detachable fromthe handle or housing.

When the clinician desires to articulate the end effector 2300, theclinician applies a rotary force to the articulation fin portions 2553that is sufficient to cause rotation of the gear assembly 2560. As thegear assembly 2560 is rotated, the lock member 2582 moves in theproximal direction to permit the end 2584 of the lock member 2582 tomove out of the lock notch 2566. The end 2584 rides around the rim ofthe locking flange 2564 during articulation. When in that position, thelock member 2582 prevents the lock yoke 2282 from moving sufficientlyfar enough in the distal direction to permit detachment of the shaftassembly 2200 from the handle. As such, when the end effector is in anarticulated position, the lock yoke is prevented from moving to adetached or unlocked position. This arrangement not only preventsinadvertent detachment of the shaft assembly from the handle (i.e., byaccident) but also prevents the clinician from detaching the shaftassembly 2200 using the latch button 2287.

FIG. 28 is a cross-sectional view through a flexible articulation jointmember 2600 of the type, for example, shown in FIG. 25. The joint membercomprises a flexible body 2602 that has a centrally disposed passage2604 that is configured to slidably support a flexible firing beam 2610therethrough. In this arrangement, the body 2602 includes two upperpassages 2606 that are sized and arranged to accommodate a correspondingarticulation cable 2620 therethrough. The articulation cables 2620perform the same functions as the articulation drivers disclosed herein.For example, each of the cables 2620 is attached to or otherwiseinterface with the surgical end effector. The proximal ends or portionsof the cables 2620 interface with an articulation control system foractuating the cables to articulate the end effector. The body 2602further includes two lower passages 2608 that are adapted to accommodatecorresponding portions of a frame assembly 2630. In this example, theframe assembly includes a first frame band 2640 and a second frame band2650. The bands 2640, 2650 are located on each lateral side of theflexible firing beam 2610 and extend back to the handle or housing. Eachband 2640, 2650 may comprise a cantilever spring arm that extendsthrough the corresponding lower passages 2608 and be coupled to orotherwise interface with the end effector. For example, the distal endof each band 2640, 2650 may be attached to corresponding portions of theelongate channel of the end effector. The bands 2640, 2650 will flex toaccommodate articulation of the end effector. As can be seen in FIG. 28however, each band 2640, 2650 is configured for frictional engagementwith corresponding portions of the walls 2609 of each of the lowerpassages 2608. In the illustrated example, each band 2640, 2650 includesa friction lug or formation 2642, 2652 thereon as shown. Sucharrangement serves to frictionally retain the body portion 2602 in thearticulated orientation.

FIG. 29 is a cross-sectional view through a flexible articulation jointmember 2700 of the type, for example, shown in FIG. 25. The joint membercomprises a flexible body 2702 that has a centrally disposed passage2704 that is configured to slidably support a flexible firing beam 2610therethrough. In this arrangement, the body 2702 includes two lateralpassages 2706 that are sized and arranged to accommodate a correspondingarticulation cable 2620 therethrough. In the illustrated arrangement,the passages 2706 are sized relative to the cables 2620 such thatfriction is generated between each cable and the walls of thecorresponding passage 2706. The body 2702 further includes a lowerpassage 2708 that are adapted to accommodate corresponding portions of aframe assembly 2730. In this example, the frame assembly includes afirst frame band 2740 and a second frame band 2750. The bands 2740, 2750are located below the flexible firing beam 2610 and extend back to thehandle or housing. Each band 2740, 2750 may comprise a cantilever springarm that extends through the corresponding lower passages 2708 and becoupled to or otherwise interface with the end effector. For example,the distal end of each band 2740, 2750 may be attached to correspondingportions of the elongate channel of the end effector. The bands 2740,7650 will flex to accommodate articulation of the end effector. As canbe seen in FIG. 29, the bands 2740, 2750 are in frictional engagementwith the firing beam 2610 as well as with the walls of the lower passage2708. Such arrangement serves to frictionally retain the body portion2702 in the articulated orientation.

FIG. 31 illustrates in somewhat diagrammatical form, a surgicalinstrument 3010 with an articulatable end effector 3300 that employs aunique and novel articulation system 3500 for articulating the endeffector 3300 about an articulation joint generally designated as 3240.In particular, the surgical instrument 3010 includes a frame assembly3600 that is attached to the elongate channel 3302 of the surgical endeffector 3300 such that the surgical end effector 3300 may beselectively articulated about the articulation joint 3240. Thearticulation system 3500 includes a first articulation member or bar3510 and a second articulation member or bar 3520. Each of the first andsecond articulation bars 3510, 3520 are attached to the elongate channel3302 of the surgical end effector 3300 and are arranged for axialmovement relative to the frame assembly 3600. For example, the firstarticulation bar 3510 may be supported for axial movement relative tothe frame assembly 3600 by a first bearing 3511 and the secondarticulation bar 3520 may be supported for axial movement relative tothe frame assembly 3600 by a second bearing 3521.

The surgical end effector 3300 may comprise a surgical cutting andstapling device and include a firing member (not shown) that isconfigured for axial travel within the end effector 3300 as is taught inmany of the references that have been herein incorporated by reference.The surgical instrument 3010 is equipped with a firing member or rod3560 that is configured to move axially in response to drive motionsfrom a firing drive system of the various types disclosed herein as wellas disclosed in the various references incorporated herein. Thearticulation system 3500 as generally depicted in FIG. 31 includes anarticulation drive assembly 3530 that is configured to operablyinterface with firing drive system to receive firing motions therefrom.For example, the articulation driver 3532 of the articulation driveassembly 3530 may operably interface with the firing rod 3560 through aswitching or clutching arrangement 3600 of the type disclosed hereinand/or in the referenced incorporated herein. Thus, when in theswitching arrangement 3600 is in the “articulation mode”, operation ofthe firing drive is transferred to the articulation driver 3532 to applyan axial articulation motion thereto. When the switching arrangement3600 is in the “firing mode”, actuation of the firing drive will resultin the axial advancement of the firing member within the surgical endeffector 3300.

As can be further seen in FIG. 31, the articulation drive assembly 3532further includes a dual-acting solenoid assembly 3534 that is attachedto the articulation driver 3532. The solenoid assembly 3534 includesarticulation engagement member 3536 that is arranged for selectivedriving engagement with a portion of the first articulation driver 3510.In addition, the solenoid assembly 3534 includes a second articulationengagement member 3538 that is arranged for selective driving engagementwith the second articulation bar 3520. For example, FIG. 31 illustratesa portion of the first driver 3536 received in a first drive aperture3512 in the first articulation driver 3510. A similar second driveaperture 3522 is shown in the second articulation driver 3520, however,in FIG. 31, the second driver 3538 is in a retracted or disengagedposition. Other arrangements for drivingly engaging and disengaging thearticulation drive assembly 3530 may also be employed. Thus, when thefirst articulation engagement member 3536 is in driving engagement withthe first articulation driver 3510, actuation of the firing drive systemwill result in the axial advancement of the first articulation driver3510 and when the second articulation engagement member 3538 is indriving engagement with the second articulation driver 3520, actuationof the firing drive system will result in the axial advancement of thesecond articulation driver 3520.

As was discussed in further detail herein, it may be desirable for thesurgical instrument to employ means for locking the articulation driversin position prior to use of the device and/or after the end effector hasbeen articulated into a desired position. To that end, the surgicalinstrument 3010 is shown with an articulation lock system 3700. Thearticulation lock system 3700 comprises a first lock member 3702configured for locking engagement with a first serrated or toothedlocking portion 3514 of the first articulation driver 3510 and a secondlock member 3704 configured for locking engagement with a second toothedor locking portion 3524 of the second articulation driver 3520. When thefirst lock member 3702 is engaged with the first serrated portion 3514of the first articulation driver 3510, the first articulation driver3510 will be retained in that axial position. Similarly, when the secondlock member 3704 is engaged with the second serrated portion 3524 of thesecond articulation driver 3520, the second articulation driver 3520will be retained in that axial position.

FIG. 31 illustrates the first articulation engagement member 3536 indriving engagement with the aperture 3512. As can be seen in thatFigure, at least a corresponding portion 3516 of the first articulationdriver 3510 is moved laterally in the first lateral direction “FLD” suchthat the first serrated portion 3514 is moved out of engagement with thefirst locking member 3702. As can also be seen in FIG. 31, the secondarticulation engagement member 3538 is retracted out of engagement withthe articulation aperture 3522. When in that position, the firstarticulation driver 3510 is in an unlocked orientation and is free to beaxially advanced in the distal direction “DD” to articulate the surgicalend effector 3300 in a first articulation direction “FAD” about thearticulation joint 3240. As the first articulation driver 3510 is moveddistally, the second articulation driver 3520 necessarily will move inthe proximal direction “PD” due to its connection to the elongatechannel 3302 of the surgical end effector 3300. Such proximal movementof the second articulation driver 3520 will be accommodated by thesecond lock member 3704 “bumping” or riding or slipping over thecorresponding serrations 3524. Likewise, to articulate the surgical endeffector in a second articulation direction “SAD” about the articulationjoint 3240, the first articulation engagement member 3536 is retractedout of engagement with the first articulation aperture 3512 and thesecond articulation engagement member 3538 is moved laterally in thesecond lateral direction “SLD” into engagement with the secondarticulation aperture 3522 to bias or otherwise move the second serratedportion 3524 of the second articulation driver 3520 out of engagementwith the second lock member 3707. When in that position, the secondarticulation driver 3520 is in an unlocked orientation and is free to beaxially advanced in the distal direction “DD” to articulate the surgicalend effector 3300 in a second articulation direction “SAD” about thearticulation joint 3240. As the second articulation driver 3520 is moveddistally, the first articulation driver 3510 necessarily will move inthe proximal direction “PD” due to its connection to the elongatechannel 3302 of the surgical end effector 3300. Such proximal movementof the first articulation driver 3510 will be accommodated by the firstlock member 3702 “bumping” or riding or slipping over the correspondingserrations 3514.

FIG. 32 illustrates in somewhat diagrammatical form, a surgicalinstrument 4010 with an articulatable end effector 4300 that employs aunique and novel articulation system 4500 for articulating the endeffector 4300 about an articulation joint generally designated as 4240.In particular, the surgical instrument 4010 includes a frame assembly4600 that is attached to the elongate channel 4302 of the surgical endeffector 4300 such that the surgical end effector 4300 may beselectively articulated about the articulation joint 4240. Thearticulation system 4500 includes a first articulation member or bar4510 and a second articulation member or bar 4520. Each of the first andsecond articulation bars 4510, 4520 are attached to the elongate channel4302 of the surgical end effector 4300 and are arranged for axialmovement relative to the frame assembly 4600. For example, the firstarticulation bar 4510 may be supported for axial movement relative tothe frame assembly 4600 by a first bearing 4511 and the secondarticulation bar 4520 may be supported for axial movement relative tothe frame assembly 4600 by a second bearing 4521.

The surgical end effector 4300 may comprise a surgical cutting andstapling device and include a firing member (not shown) that isconfigured for axial travel within the end effector 4300 as is taught inmany of the references that have been herein incorporated by reference.The surgical instrument 4010 is equipped with a firing member or rod4560 that is configured to move axially in response to drive motionsfrom a firing drive system of the various types disclosed herein as wellas the various references incorporated herein. The articulation system4500 as generally depicted in FIG. 32 includes a first articulationdrive motor 4530 that is configured to operably interface with the firstarticulation driver 4510 such that operation of the first articulationmotor in one direction results in axial advancement of the firstarticulation bar 4510 in the distal direction “DD” and operation of thefirst articulation drive system in an opposite direction results in theaxial movement of the first articulation bar 4510 in a proximaldirection “PD”. Similarly, the articulation system 4500 furthercomprises a second articulation drive motor 4540 that is configured tooperably interface with the second articulation driver 4520 such thatoperation of the second articulation drive motor 4540 in one directionwill result in the axial advancement of the second articulation driverin the distal direction “DD” and operation of the second articulationmotor in an opposite direction will result in the axial advancement ofthe second articulation driver in the proximal direction “PD”. The firstand second articulation drive motors 4530, 4540 are controlled by acontrol circuit and controller arrangement, such that when one of thedrive motors 4530 is operated to drive the articulation driver operablyattached thereto in one axial direction for a first axial distance, theother articulation drive motor is operated in an opposite direction tomove the other articulation driver operably coupled thereto in anopposite axial direction for a second axial distance that is equal tothe first axial distance to accommodate articulation of the surgical endeffector.

EXAMPLES Example 1

A shaft assembly for a surgical instrument that comprises a movabledrive member wherein the shaft assembly comprises a spine assembly thatis operably couplable to the surgical instrument. A surgical endeffector is coupled to the spine assembly by an articulation joint. Aproximal firing member interfaces with the movable drive member and issupported for movable travel relative to the spine assembly. Anintermediate firing member is supported for movable travel relative tothe spine assembly and a distal firing member interfaces with theintermediate firing member and is supported for selective axial travelthrough at least a portion of the surgical end effector. An articulationdriver interfaces with the end effector to apply articulation motionsthereto. The surgical instrument further comprises a clutch system thatis selectively movable between an articulation orientation and a firingorientation such that when the clutch system is in the articulationorientation, movement of the movable drive member is transmitted to thearticulation driver through the proximal firing member and when theclutch system is in the firing orientation, movement of the movabledrive member is transmitted to the distal firing member through theproximal firing member and the intermediate firing member.

Example 2

The shaft assembly of Example 1, wherein the intermediate firing memberis coupled to the proximal firing member such that when the clutchsystem is in the articulation orientation, the proximal firing member ismovable relative to the intermediate firing member and when the clutchsystem is in the firing orientation, the intermediate firing membermoves axially with the proximal firing member.

Example 3

The shaft assembly of Example 2, wherein the intermediate firing memberis coupled to the proximal firing member by a coupler comprising aproximal coupler end attached to a distal end of the proximal firingmember and distal coupler end spaced from the proximal coupler end todefine an enclosed axial passage therebetween for movably receiving aproximal end of the intermediate firing member therein.

Example 4

The shaft assembly of Example 3, wherein the clutch system comprises anengagement member that is supported for rotational travel around anouter perimeter of the coupler and wherein the articulation driver iscoupled to the engagement member for axial travel therewith. A firstproximal detent and a first distal detent are located on the engagementmember. The first distal detent is spaced from the first proximal detentand is oriented in axial alignment therewith. The clutch system furthercomprises a first axial groove in an outer surface of the coupler suchthat when the first proximal and distal detents are aligned with thefirst axial groove, the coupler is axially movable relative to theengagement member and when the first proximal and distal detents aremisaligned from the first axial groove, axial movement of the coupler ina distal direction will move the articulation driver in the distaldirection and movement of the coupler in a proximal direction will movethe articulation driver in the proximal direction.

Example 5

The shaft assembly of Example 4, wherein the shaft assembly furthercomprises a second proximal detent on the engagement memberdiametrically opposed from the first proximal detent. The shaft assemblyfurther comprises a second distal detent on the engagement memberdiametrically opposed from the first distal detent and axially alignedwith the second proximal detent. A second axial groove is provided inthe outer surface of the coupler in an orientation that it isdiametrically opposite from the first axial groove, such that when thefirst proximal and distal detents are misaligned with the first axialgroove, the second proximal and distal detents are misaligned with thesecond axial groove and when the first proximal and distal detents areaxially aligned with the first axial groove, the second proximal anddistal detents are axially aligned with the second axial groove.

Example 6

The shaft assembly of Examples 4 or 5, wherein the articulation drivercomprises a tab on a proximal end of the articulation driver that isreceived within an annular groove in a perimeter of the engagementmember to facilitate rotation of the engagement member relative to thearticulation driver.

Example 7

The shaft assembly of Example 5 further comprising means for rotatingthe engagement member on the coupler between the articulationorientation wherein the first proximal and distal detents are alignedwith the first axial groove and the second proximal and distal detentsare aligned with the second axial groove and the firing orientationwherein the first proximal and distal detents are not aligned with thefirst axial groove and the second proximal and distal detents are notaligned with the second axial groove.

Example 8

The shaft assembly of Examples 1, 2, 3, 4, 5, 6 or 7 wherein thesurgical end effector comprises a first jaw coupled to the articulationjoint and a second jaw that is supported adjacent to the first jaw. Thefirst and second jaws are supported relative to each other such that oneof the first and second jaws is selectively movable toward and away fromthe other of the first and second jaws between open and closed positionsby axial travel of a closure member interfacing therewith.

Example 9

The shaft assembly of Example 8, wherein the means for rotatingcomprises an actuation member that is supported on the engagement membersuch that rotation of the actuation member causes rotation of theengagement member. The means for rotating further comprising a cam pinthat is located on the actuation member and is configured to interfacewith a cam slot in the closure member such that when the closure memberis in an unactuated position corresponding to the open position of thefirst and second jaws, the cam pin permits the engagement member to bebiased into the articulation position and when the closure member is inan actuated position corresponding to the closed positions of the firstand second jaws, the clam slot causes the cam pin to rotate theactuation member and the engagement member to the firing position.

Example 10

The shaft assembly of Example 9, further comprising a switch drum thatinterfaces with the actuation member to send a signal to a controlcircuit in the surgical instrument when the engagement member is in thefiring orientation.

Example 11

A shaft assembly for a surgical instrument comprising a movable drivemember, the shaft assembly comprising a spine assembly that is operablycouplable to the surgical instrument. A surgical end effector is coupledto the spine assembly by an articulation joint. A proximal firing memberinterfaces with the movable drive member and is supported for movabletravel relative to the spine assembly. A distal firing member interfaceswith the proximal firing member and is supported for selective axialtravel through at least a portion of the surgical end effector. At leastone articulation driver interfaces with the end effector to applyarticulation motions thereto. An articulation motor is supported by thespine assembly and drivingly interfaces with the at least onearticulation driver. The shaft assembly further comprises means forpreventing actuation of the movable drive member when the articulationmotor is being actuated.

Example 12

The shaft assembly of Example 11, wherein the movable drive member isactuated by a firing motor and wherein the means for preventingactuation comprises a switch assembly that comprises a slip ringassembly that communicates with a control circuit for the surgicalinstrument. The control circuit communicates with the firing motor andthe articulation motor. A switch drum is supported for movable travel onthe frame assembly between a first position that corresponds to anarticulation position and a second position that corresponds to a firingposition such that when the switch drum is in the second position, theslip ring assembly communicates a firing status of the switch drum tothe control circuit which enables the firing motor to be actuated andwhen the switch drum is in the first position, the control circuitprevents actuation of the firing motor and permits actuation of thearticulation motor.

Example 13

The shaft assembly of Example 12 further comprising means for moving theswitch drum between the first and second positions.

Example 14

The shaft assembly of Example 13, wherein the means for moving theswitch drum comprises a spring member that is configured to bias theswitch drum into the first position.

Example 15

The shaft assembly of Examples 11, 12, 13 or 14, wherein the surgicalend effector comprises a first jaw that is coupled to the articulationjoint and a second jaw that is supported adjacent to the first jaw. Thefirst and second jaws are supported relative to each other such that oneof the first and second jaws is selectively movable toward and away fromthe other of the first and second jaws between open and closed positionsby axial travel of a closure member that interfaces therewith.

Example 16

The shaft assembly of Example 15, wherein the means for moving theswitch drum further comprises a cam pin that is located on the switchdrum and interfaces with a cam slot in the closure member such that whenthe closure member is in an unactuated position that corresponds to theopen position of the first and second jaws, the cam pin permits theswitch drum to be biased into the articulation position by the springand when the closure member is in an actuated position that correspondsto the closed positions of the first and second jaws, the clam slotcauses the cam pin to move the switch drum to the second position.

Example 17

The shaft assembly of Examples 11, 12, 13, 14, 15 or 16, wherein the atleast one articulation driver comprises first and second articulationdrivers that interface with the articulation motor such that actuationof the articulation motor drives the first and second articulationdrivers in opposite directions.

Example 18

The shaft assembly of Example 17, further comprising means forsupporting distal portions of the first and second articulation driversduring actuation thereof in opposite directions.

Example 19

The shaft assembly of Example 18, wherein the means for supportingcomprises a distal idler gear that is centrally disposed between thedistal portions of the first and second articulation drivers and inmeshing engagement therewith.

Example 20

The shaft assembly of Examples 18 or 19, wherein the shaft assemblyfurther comprises a first detent tooth that protrudes inwardly from theclosure member into engagement with a first serrated portion of thefirst articulation driver. The shaft assembly further comprising asecond detent tooth that protrudes inwardly from the closure member intoengagement with a second serrated portion of the second articulationdriver.

The entire disclosures of:

U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE,which issued on Apr. 4, 1995;

U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21,2006;

U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued onSep. 9, 2008;

U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec.16, 2008;

U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;

U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, whichissued on Jul. 13, 2010;

U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE, which issued on Mar. 12, 2013;

U.S. Pat. No. 7,845,537, entitled SURGICAL INSTRUMENT HAVING RECORDINGCAPABILITIES; which issued on Dec. 7, 2010;

U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTINGAND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;

U.S. Pat. No. 7,980,443, entitled END EFFECTORS FOR A SURGICAL CUTTINGAND STAPLING INSTRUMENT, which issued on Jul. 19, 2011;

U.S. Pat. No. 8,210,411, entitled MOTOR-DRIVEN SURGICAL CUTTINGINSTRUMENT, which issued on Jul. 3, 2012;

U.S. Pat. No. 8,608,045, entitled POWERED SURGICAL CUTTING AND STAPLINGAPPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, which issued on Dec.17, 2013;

U.S. Pat. No. 8,220,688, entitled MOTOR-DRIVEN SURGICAL CUTTINGINSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, whichissued on Jul. 17, 2012;

U.S. Pat. No. 8,733,613, entitled STAPLE CARTRIDGE, which issued on May27, 2014;

U.S. Pat. No. 8,561,870, entitled SURGICAL STAPLING INSTRUMENT, whichissued on Oct. 22, 2013;

U.S. Patent Application Publication No. 2012/0298719, entitled SURGICALSTAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS,filed on May 27, 2011, now U.S. Pat. No. 9,072,535;

U.S. Patent Application Publication No. 2013/0334278, entitledARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed onJun. 15, 2012, now U.S. Pat. No. 9,101,358;

U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. Pat.No. 9,345,481;

U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGETISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013, now U.S. PatentApplication Publication No. 2014/0263552;

U.S. Patent Application Publication No. 2007/0175955, entitled SURGICALCUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM,filed Jan. 31, 2006; and

U.S. Pat. No. 8,308,040, entitled SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR, which issued on Nov. 13, 2012, are herebyincorporated by reference herein.

Although the various embodiments of the devices have been describedherein in connection with certain disclosed embodiments, manymodifications and variations to those embodiments may be implemented.Also, where materials are disclosed for certain components, othermaterials may be used. Furthermore, according to various embodiments, asingle component may be replaced by multiple components, and multiplecomponents may be replaced by a single component, to perform a givenfunction or functions. The foregoing description and following claimsare intended to cover all such modification and variations.

With respect to the use of substantially any plural and/or singularterms herein, those having skill in the art can translate from theplural to the singular and/or from the singular to the plural as isappropriate to the context and/or application. The varioussingular/plural permutations are not expressly set forth herein for sakeof clarity.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely exemplary, and that in fact many other architectures may beimplemented which achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected,” or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably couplable,” to each other to achieve the desiredfunctionality. Specific examples of operably couplable include but arenot limited to physically mateable and/or physically interactingcomponents, and/or wirelessly interactable, and/or wirelesslyinteracting components, and/or logically interacting, and/or logicallyinteractable components.

Although various embodiments have been described herein, manymodifications, variations, substitutions, changes, and equivalents tothose embodiments may be implemented and will occur to those skilled inthe art. Also, where materials are disclosed for certain components,other materials may be used. It is therefore to be understood that theforegoing description and the appended claims are intended to cover allsuch modifications and variations as falling within the scope of thedisclosed embodiments. The following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

In summary, numerous benefits have been described which result fromemploying the concepts described herein. The foregoing description ofthe one or more embodiments has been presented for purposes ofillustration and description. It is not intended to be exhaustive orlimiting to the precise form disclosed. Modifications or variations arepossible in light of the above teachings. The one or more embodimentswere chosen and described in order to illustrate principles andpractical application to thereby enable one of ordinary skill in the artto utilize the various embodiments and with various modifications as aresuited to the particular use contemplated. It is intended that theclaims submitted herewith define the overall scope.

1-20. (canceled)
 21. A shaft assembly configured to be removablyconnectable to a handle assembly of a surgical instrument, the shaftassembly comprising: an end effector pivotable between an unarticulatedposition and a plurality of articulated positions; and an articulationdrive assembly comprising: a first articulation member coupled to theend effector, the first articulation member longitudinally movable froma first position to a second position to pivot the end effector in afirst direction; a second articulation member coupled to the endeffector, the second articulation member longitudinally movable from athird position to a fourth position to pivot the end effector in asecond direction; an articulation lock system configured to engage withand thereby longitudinally retain at least one of the first articulationmember or the second articulation member; and an articulation driverconfigured to selectively disengage either the first articulation memberfrom the articulation lock system such that the first articulationmember is longitudinally movable to pivot the end effector or the secondarticulation member from the articulation lock system such that thesecond articulation member is longitudinally movable to pivot the endeffector.
 22. The shaft assembly of claim 21, wherein the articulationlock system comprises: a first lock configured to engage with andthereby longitudinally retain the first articulation member; a secondlock configured to engage with and thereby longitudinally retain thesecond articulation member; and wherein the articulation driver isconfigured to selectively disengage the first articulation member fromthe first lock or the second articulation member from the second lock.23. The shaft assembly of claim 22, wherein each of the first lock andthe second lock comprise a lock member configured to frictionally engagea serrated portion disposed on the respective first articulation memberor the second articulation member.
 24. The shaft assembly of claim 23,wherein the first articulation member being translated from the firstposition to the second position causes the lock member of the secondlock is configured to slip over the serrated portion of the secondarticulation member.
 25. The shaft assembly of claim 23, wherein thearticulation driver is configured to flex the first articulation memberor the second articulation member out of engagement with the first lockor the second lock respectively.
 26. The shaft assembly of claim 21,wherein the articulation driver comprises a dual-acting solenoid. 27.The shaft assembly of claim 21, wherein the first position and the thirdposition are proximal positions and the second position and the fourthposition are distal positions.
 28. The shaft assembly of claim 21,wherein the first articulation member and the second articulation membercomprise cables.
 29. The shaft assembly of claim 21, wherein thearticulation drive assembly is positioned adjacently to an articulationjoint about which the end effector pivots.
 30. A shaft assemblyconfigured to be removably connectable to a handle assembly of asurgical instrument, the shaft assembly comprising: an end effectorpivotable between an unarticulated position and a plurality ofarticulated positions; and an articulation drive assembly comprising: afirst articulation member coupled to the end effector, the firstarticulation member longitudinally movable from a first position to asecond position to pivot the end effector in a first direction; a firstmotor coupled to the first articulation member, the first motorconfigured to drive the first articulation member between the firstposition and the second position; a second articulation member coupledto the end effector, the second articulation member longitudinallymovable from a third position to a fourth position to pivot the endeffector in a second direction; and a second motor coupled to the firstarticulation member, the second motor configured to drive the secondarticulation member between the third position and the fourth position;wherein the first motor and the second motor are configured selectivelyadvance the first articulation member and the second articulation memberrespectively.
 31. The shaft assembly of claim 30, further comprising acontrol circuit configured to selectively control the first motor andthe second motor to drive the first articulation member and the secondarticulation member.
 32. The shaft assembly of claim 30, wherein thefirst position and the third position are proximal positions and thesecond position and the fourth position are distal positions.
 33. Theshaft assembly of claim 30, wherein the first articulation member andthe second articulation member comprise cables.
 34. The shaft assemblyof claim 30, wherein the articulation drive assembly is positionedadjacently to an articulation joint about which the end effector pivots.35. A surgical instrument comprising: a shaft assembly that isconfigured to be removably connectable to a handle assembly of thesurgical instrument; an articulation joint; an end effector attached tothe shaft assembly at the articulation joint, the end effector pivotablebetween an unarticulated position and a plurality of articulatedpositions about the articulation joint; and an articulation driveassembly housed within the shaft assembly, the articulation driveassembly comprising: a first articulation member coupled to the endeffector, the first articulation member longitudinally movable from afirst position to a second position to pivot the end effector about thearticulation joint in a first direction; a second articulation membercoupled to the end effector, the second articulation memberlongitudinally movable from a third position to a fourth position topivot the end effector about the articulation joint in a seconddirection; an articulation lock system configured to longitudinallyretain at least one of the first articulation member or the secondarticulation member; and an articulation driver configured toselectively disengage either the first articulation member from thearticulation lock system such that the first articulation member islongitudinally movable to pivot the end effector or the secondarticulation member from the articulation lock system such that thesecond articulation member is longitudinally movable to pivot the endeffector.
 36. The shaft assembly of claim 35, wherein the articulationlock system comprises: a first lock configured to engage with andthereby longitudinally retain the first articulation member; a secondlock configured to engage with and thereby longitudinally retain thesecond articulation member; and wherein the articulation driver isconfigured to selectively disengage the first articulation member fromthe first lock or the second articulation member from the second lock.37. The shaft assembly of claim 35, wherein the first position and thethird position are proximal positions and the second position and thefourth position are distal positions.
 38. The shaft assembly of claim35, wherein the first articulation member and the second articulationmember comprise cables.
 39. The shaft assembly of claim 35, wherein thearticulation drive assembly is positioned within the shaft assemblyadjacently to the articulation joint.